Rigid body attitude synchronization with communication delays | IEEE Conference Publication | IEEE Xplore

Rigid body attitude synchronization with communication delays


Abstract:

The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without angular velocity measure...Show More

Abstract:

The paper addresses the cooperative attitude synchronization problem of multiple rigid bodies in the presence of communication delays and without angular velocity measurements. First, we present a solution to the leaderless and leader-follower problems in the case of time-varying communication delays and undirected communication topology. Next, we present an attitude synchronization scheme for the leaderless problem, under a directed graph topology, in the presence of constant communication delays. To demonstrate the effectiveness of the proposed control schemes, simulation results of a scenario of four rigid bodies are provided.
Date of Conference: 27-29 June 2012
Date Added to IEEE Xplore: 01 October 2012
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Conference Location: Montreal, QC, Canada

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